JPS6147305A - Robot hand for case packaging work of article - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention is applicable to packaging operations for various articles, particularly boxing operations, in which a large number of articles to be packaged, for example, a unit of packaging, are grasped at a time, and the cardboard boxes are This relates to a robot hand used to transport the items to a predetermined location such as inside a box.0 [Prior technology] When packing multiple items of the same type in a cardboard box or other similar packaging material, cushioning material is inserted between the items. Unless it is necessary to do so, items are usually packed in boxes without any gaps. When this close-packing type boxing is carried out by a robot hand, the conventional manual work of transporting one or a small number of items and packing the items is often repeated, and there is no significant improvement in efficiency. I couldn't expect it. - Transporting a unit of packaging or one level of items in a box at once and placing them in a box requires preparatory work to concentrate the items to be packed in a close-packed arrangement for large, heavy items. This is not very easy, so it is difficult to implement except in the case of relatively small historical items. For example, in a spinning factory, there are multiple rows of cheese packages that are sent by conveyor from multiple production lines and are waiting to be packaged. From each row, multiple cheese packages are taken out in two rows at a time and transported. Even if you try to pack the cheese in boxes, the cheese packages in this state are close together within the rows, but there are gaps between the rows, and moving them to eliminate these gaps requires manual labor or special equipment. This is not practical as it increases the chances of losing money. Therefore, in such cases, even if they were to be conveyed all at once, they had to be conveyed one row at a time.

[Problem that the invention seeks to solve]

The present invention provides that, even if a conventional robot hand is used to transport and pack multiple items at once as described above, in many cases, preparation work is required, which does not improve the overall labor-saving effect and investment effect. In view of this problem, it is possible to arrange items in the most common condition, where they are arranged in multiple rows with gaps between them, without any special preparation process to arrange them in close-packed arrangement. The purpose of the present invention is to provide a robot hand that can grasp, transport, and package items.

[Means for solving problems]

The robot hand of the present invention includes a plurality of object gripping means arranged in a plurality of rows so as to be able to simultaneously grip a plurality of objects arranged in a plurality of rows with gaps between them, and a plurality of object gripping means that grip the object. In this state, the article gripping means row spacing control means is provided to allow each row of article gripping means to approach each other until the rows of articles come into close contact with each other.

In the robot hand of the present invention, the article gripping means includes:
It is a means for picking up an item to be packed from its storage area, and its mechanism is not limited, and includes a clamping type, a vacuum pad type, a magnet type, etc. In practice, the shape of the goods to be packed,
An appropriate method can be selected depending on the material, weight, etc. Note that the article gripping means for gripping articles in the same row may be wholly or partially integrated to form a single gripping means capable of gripping a plurality of articles.

The interval between each row of the plurality of rows of article gripping means matches or can match the interval between the rows of articles to be gripped in the standard state, but in the state where the article is gripped, the distance between the rows of the article is as described above. In order to make each row accessible until they are in close contact, all rows of article gripping means can be positioned, but 1
Make a column fixed in position and make other columns variable in position. The mechanism of the article gripping means row spacing control means for displacing the position-variable article gripping means may be any mechanism as long as it can displace the article gripping means in a loaded state gripping an article. be able to.

Further, the function may be such that the article gripping means can take two fixed positions according to the row spacing and shape of the articles to be gripped, and can be used for processing various articles at any time. It may be possible to make the displacement range of the article gripping means variable.

[For production]

In the robot hand of the present invention, each article gripping means basically grips one article, but in special cases, it grips a plurality of articles in the same row. After the article gripping means grips the article, the arm of the robot operates to displace the hand portion above the packaging box, and then the hand is lowered to insert the article into the box. The inter-row spacing control means displaces the variable position article gripping means;
The spacing between the rows of article gripping means is reduced until the articles in each row are closely spaced. After the article gripping means releases the article into the box and before the arm is activated and the hand returns above the article storage area, the distance between the rows of the article gripping means is determined by the operation of the article gripping means row spacing control means. Return to the old.

〔Example〕

Next, a specific example of the robot hand of the present invention manufactured for use in packaging the aforementioned cheese packages will be described with reference to the drawings.

Cheese package 1 to be processed by this hand
are arranged in two rows and placed on a conveyor or in a packaged hot water storage, and although the rows are closely spaced in the front and back direction, the space between the rows is not the same as in Figure 1. are different, and the distance between the ends of the paper tube 2 is several centimeters.

This hand is for transporting and boxing the cheese packages 1 (four in each row, eight in total) at once, and is equipped with two rows of article gripping means 3, four in each row. The article gripping means 3 includes a pair of gripper claw support members 6 that are attached in the opening direction and have a gripper claw 4 that is pivoted and biased inwardly by a spring and a wedge-shaped engagement piece 8 that projects upward. The guide 11 has an inverted U-shaped cross section and is driven by a hydraulic cylinder 1Q to move up and down while the lower end is in contact with the outer inclined surface 9 of the engaging piece 8.
When the gripper claw support member 6 and therefore the gripper claws 4 are opened by the force of the spring 7,
When the guide 11 is descending, the lower end of the guide 11 guides the engaging piece 8 inward during the descending process, and therefore slides the gripper claw support member 6 to narrow the gap between them. 4 is given the object gripping force. The article gripping means 3a of the right-hand column in FIG.
18 and cam rollers 19 and 20 that engage with the cam rollers 19 and 20, it is suspended on the frame 12 so as to be movable in a direction perpendicular to the rows, and the distance from the fixed article gripping means 3a is variable. be. The position of the displaceable article gripping means 3b is controlled by the article gripping means row spacing control means 13. The control means 13 consists of a hydraulic cylinder 14 and a connecting culm 16 between the sonohistone and the frame 15 of the article gripping means 3b.

When gripping and conveying a cheese package using this hand, the guide 11 is raised to open the gripper claw support member 6 and the gripper claws 4, and the interval between the two rows of article gripping means 3 is adjusted so that the gripping With the gripper claws 4 opened to match the spacing between the rows of cheese packages to be processed, the gripper claws 4 grip the end surface 2 of the thread layer portion of the cheese package 1 as shown in FIG.
1 arm (not shown) is operated to lower the entire hand to a position where it can come into contact with 2. Next, the hydraulic cylinder 10
is operated to close the gripper claw support member 6 and the gripper claws 4, and the gripper claws 4 are made to grip the cheese package 1. Next, after raising the entire hand, it is placed in a packing box 2.
1 and move the vertical support shaft 2 of the hand as necessary.
3 to align the cheese package group and the box 21.

In the meantime, the hydraulic cylinder 14 is operated to displace the article gripping means 3b row in the direction of the 3a row until the tips of the paper tubes 2 of the opposing cheese packages 1 come into contact with each other. After this, the hand is lowered to place the cheese packages in the box 21, and then the cheese packages 1 are released by the reverse operation to the above (the figure shows a new box 21 - 2 rows of cheese packages 1 with 4 pieces in each row). (This shows that the work up to this point was hesitating, as I had prepared a 3-stage stack.) Thereafter, the hand is raised and moved to the cheese package storage area while returning the row of article gripping means 3b to its original position, and the above operation is performed again.

[Effects of the Invention] Since the robot hand of the present invention has the above-described configuration and method of use, it can be assembled in the most normal state as it has been carried on a conveyor, that is, in multiple rows with gaps. It is possible to grasp a group of articles in a plurality of rows in a row, and to assemble the articles in a close-packed arrangement during the transportation process and pack them in a box. Therefore, according to the present invention, without the need for preparatory work to gather groups of goods closely together.
In addition, it is possible to transport items for a unit of packaging or one level of a box at once and pack them in a close-packed arrangement without requiring any auxiliary manpower, which greatly improves the efficiency of packaging operations. Improvements and cost reductions can be achieved.

[Brief explanation of drawings]

Figure 1 is a front view of the robot hand of the present invention, Figure 2 is the left side of the robot hand in Figure 1, Figure 3 is a plan view of the robot hand in Figure 1, and Figure 4 is the IV in Figure 3. -IV line sectional view.

Claims (2)

[Claims] (1) A plurality of article gripping means arranged in a plurality of rows so as to be able to simultaneously grip a plurality of articles arranged in a plurality of rows with gaps, and an article in a state where the article gripping means grips the article. 1. A robot hand for packaging articles, characterized in that the robot hand has inter-row spacing control means for allowing each row of article gripping means to approach each other until the rows of article gripping means come into close contact with each other. (2) One row of article gripping means is fixed in position and the other row is variable in position, and for the row of article gripping means whose position is fixed, the other rows of article gripping means are controlled by the interval control means between the rows of article gripping means. The robot hand according to claim 1, wherein the robot hand approaches or moves away when actuated.